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| author | Simon Wilks <sjwilks@gmail.com> | 2015-01-09 12:44:31 +0100 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2015-01-09 12:44:31 +0100 |
| commit | 8ed6612c1a8838acd9f0e9a386800c4136b98223 (patch) | |
| tree | fdef54e86ef5aac58abb9692355b1bef4ac668ed | |
| parent | d351772a4695238672611070ab2ecb4628aff993 (diff) | |
| download | px4-firmware-8ed6612c1a8838acd9f0e9a386800c4136b98223.tar.gz px4-firmware-8ed6612c1a8838acd9f0e9a386800c4136b98223.tar.bz2 px4-firmware-8ed6612c1a8838acd9f0e9a386800c4136b98223.zip | |
Fix PWM OUT command and update fligth tested params.
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10018_tbs_endurance | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance index eeb9b48b2..e83a864d8 100644 --- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -2,7 +2,7 @@ # # Team Blacksheep Discovery Long Range Quadcopter # -# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors +# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors # # Simon Wilks <simon@px4.io> # @@ -11,21 +11,27 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF == yes ] then + param set BAT_N_CELLS 6 + param set BAT_V_EMPTY 3.5 + param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_P 0.08 param set MC_ROLLRATE_I 0.02 param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.1 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.02 + param set MC_PITCHRATE_D 0.005 param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.4 + param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 + + param set MPC_XY_FF 0.2 + param set MPC_XY_VEL_MAX 2 fi set MIXER quad_w -set PWM_OUTPUTS 1234 -set PWM_MIN 1200 +set PWM_OUT 1234 +set PWM_MIN 1080 |